Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/hal/include/ctre/ctre_frames.h b/hal/include/ctre/ctre_frames.h
new file mode 100644
index 0000000..f131538
--- /dev/null
+++ b/hal/include/ctre/ctre_frames.h
@@ -0,0 +1,243 @@
+/**
+ * @file ctre_frames.h
+ * CAN Encoder/Decoder Structures for CTRE devices.
+ */
+#ifndef CTRE_FRAMES_H
+#define CTRE_FRAMES_H
+
+/** control */
+typedef struct _TALON_Control_1_General_10ms_t {
+ unsigned TokenH:8;
+ unsigned TokenL:8;
+ unsigned DemandH:8;
+ unsigned DemandM:8;
+ unsigned DemandL:8;
+ unsigned ProfileSlotSelect:1;
+ unsigned FeedbackDeviceSelect:4;
+ unsigned OverrideLimitSwitchEn:3;
+ unsigned RevFeedbackSensor:1;
+ unsigned RevMotDuringCloseLoopEn:1;
+ unsigned OverrideBrakeType:2;
+ unsigned ModeSelect:4;
+ unsigned RampThrottle:8;
+} TALON_Control_1_General_10ms_t ;
+
+/* TALON_Control_2_Rates_OneShot_t removed since it has been deprecated */
+
+typedef struct _TALON_Control_3_ClearFlags_OneShot_t {
+ unsigned ZeroFeedbackSensor:1;
+ unsigned ClearStickyFaults:1;
+} TALON_Control_3_ClearFlags_OneShot_t ;
+
+typedef struct _TALON_Control_5_General_10ms_t {
+ unsigned ThrottleBump_h3:3;
+ unsigned ReservedZero:5;
+ unsigned ThrottleBump_l8:8;
+ unsigned DemandH:8;
+ unsigned DemandM:8;
+ unsigned DemandL:8;
+ unsigned ProfileSlotSelect:1;
+ unsigned FeedbackDeviceSelect:4;
+ unsigned OverrideLimitSwitchEn:3;
+ unsigned RevFeedbackSensor:1;
+ unsigned RevMotDuringCloseLoopEn:1;
+ unsigned OverrideBrakeType:2;
+ unsigned ModeSelect:4;
+ unsigned RampThrottle:8;
+} TALON_Control_5_General_10ms_t ;
+
+typedef struct _TALON_Control_6_MotProfAddTrajPoint_t {
+ unsigned huffCode:2; //!< Compression coding
+ unsigned NextPt_VelOnly:1;
+ unsigned NextPt_IsLast:1;
+ unsigned reserved0:2;
+ unsigned NextPt_ZeroPosition:1;
+ unsigned NextPt_ProfileSlotSelect:1;
+ unsigned Idx:4;
+ unsigned reserved1:4;
+ unsigned restOfFrame0:8;
+ unsigned restOfFrame1:8;
+ unsigned restOfFrame2:8;
+ unsigned restOfFrame3:8;
+ unsigned restOfFrame4:8;
+ unsigned restOfFrame5:8;
+} TALON_Control_6_MotProfAddTrajPoint_t;
+
+typedef struct _TALON_Control_6_MotProfAddTrajPoint_huff0_t {
+ unsigned huffCode_expect_0:2; //!< Compression coding
+ unsigned NextPt_VelOnly:1;
+ unsigned NextPt_IsLast:1;
+ unsigned reserved0:2;
+ unsigned NextPt_ZeroPosition:1;
+ unsigned NextPt_ProfileSlotSelect:1;
+ unsigned Idx:4;
+ unsigned reserved1:4;
+ unsigned NextPt_DurationMs:8;
+ unsigned NextPt_VelocityH:8;
+ unsigned NextPt_VelocityL:8;
+ unsigned NextPt_PositionH:8;
+ unsigned NextPt_PositionM:8;
+ unsigned NextPt_PositionL:8;
+} TALON_Control_6_MotProfAddTrajPoint_huff0_t;
+
+typedef struct _TALON_Control_6_MotProfAddTrajPoint_huff1_t {
+ unsigned huffCode_expect_1:2; //!< Compression coding
+ unsigned NextPt_VelOnly:1;
+ unsigned NextPt_IsLast:1;
+ unsigned reserved0:2;
+ unsigned NextPt_ZeroPosition:1;
+ unsigned NextPt_ProfileSlotSelect:1;
+ unsigned Idx:4;
+ unsigned reserved1:4;
+ unsigned NextPt_DurationMs:8;
+ unsigned NextPt_SameVelocityH:8;
+ unsigned NextPt_SameVelocityL:8;
+ unsigned NextPt_DeltaPositionH:8;
+ unsigned NextPt_DeltaPositionL:8;
+ unsigned NextPt_Count:8;
+} TALON_Control_6_MotProfAddTrajPoint_huff1_t;
+
+/** status */
+typedef struct _TALON_Status_1_General_10ms_t {
+ unsigned CloseLoopErrH:8;
+ unsigned CloseLoopErrM:8;
+ unsigned CloseLoopErrL:8;
+ unsigned AppliedThrottle_h3:3;
+ unsigned Fault_RevSoftLim:1;
+ unsigned Fault_ForSoftLim:1;
+ unsigned TokLocked:1;
+ unsigned LimitSwitchClosedRev:1;
+ unsigned LimitSwitchClosedFor:1;
+ unsigned AppliedThrottle_l8:8;
+ unsigned ModeSelect_h1:1;
+ unsigned FeedbackDeviceSelect:4;
+ unsigned LimitSwitchEn:3;
+ unsigned Fault_HardwareFailure:1;
+ unsigned Fault_RevLim:1;
+ unsigned Fault_ForLim:1;
+ unsigned Fault_UnderVoltage:1;
+ unsigned Fault_OverTemp:1;
+ unsigned ModeSelect_b3:3;
+ unsigned TokenSeed:8;
+} TALON_Status_1_General_10ms_t ;
+typedef struct _TALON_Status_2_Feedback_20ms_t {
+ unsigned SensorPositionH:8;
+ unsigned SensorPositionM:8;
+ unsigned SensorPositionL:8;
+ unsigned SensorVelocityH:8;
+ unsigned SensorVelocityL:8;
+ unsigned Current_h8:8;
+ unsigned StckyFault_RevSoftLim:1;
+ unsigned StckyFault_ForSoftLim:1;
+ unsigned StckyFault_RevLim:1;
+ unsigned StckyFault_ForLim:1;
+ unsigned StckyFault_UnderVoltage:1;
+ unsigned StckyFault_OverTemp:1;
+ unsigned Current_l2:2;
+ unsigned reserved:3;
+ unsigned Cmd5Allowed:1;
+ unsigned VelDiv4:1;
+ unsigned PosDiv8:1;
+ unsigned ProfileSlotSelect:1;
+ unsigned BrakeIsEnabled:1;
+} TALON_Status_2_Feedback_20ms_t ;
+typedef struct _TALON_Status_3_Enc_100ms_t {
+ unsigned EncPositionH:8;
+ unsigned EncPositionM:8;
+ unsigned EncPositionL:8;
+ unsigned EncVelH:8;
+ unsigned EncVelL:8;
+ unsigned EncIndexRiseEventsH:8;
+ unsigned EncIndexRiseEventsL:8;
+ unsigned reserved:3;
+ unsigned VelDiv4:1;
+ unsigned PosDiv8:1;
+ unsigned QuadIdxpin:1;
+ unsigned QuadBpin:1;
+ unsigned QuadApin:1;
+} TALON_Status_3_Enc_100ms_t ;
+typedef struct _TALON_Status_4_AinTempVbat_100ms_t {
+ unsigned AnalogInWithOvH:8;
+ unsigned AnalogInWithOvM:8;
+ unsigned AnalogInWithOvL:8;
+ unsigned AnalogInVelH:8;
+ unsigned AnalogInVelL:8;
+ unsigned Temp:8;
+ unsigned BatteryV:8;
+ unsigned reserved:6;
+ unsigned VelDiv4:1;
+ unsigned PosDiv8:1;
+} TALON_Status_4_AinTempVbat_100ms_t ;
+typedef struct _TALON_Status_5_Startup_OneShot_t {
+ unsigned ResetCountH:8;
+ unsigned ResetCountL:8;
+ unsigned ResetFlagsH:8;
+ unsigned ResetFlagsL:8;
+ unsigned FirmVersH:8;
+ unsigned FirmVersL:8;
+} TALON_Status_5_Startup_OneShot_t ;
+typedef struct _TALON_Status_6_Eol_t {
+ unsigned currentAdcUncal_h2:2;
+ unsigned reserved1:5;
+ unsigned SpiCsPin_GadgeteerPin6:1;
+ unsigned currentAdcUncal_l8:8;
+ unsigned tempAdcUncal_h2:2;
+ unsigned reserved2:6;
+ unsigned tempAdcUncal_l8:8;
+ unsigned vbatAdcUncal_h2:2;
+ unsigned reserved3:6;
+ unsigned vbatAdcUncal_l8:8;
+ unsigned analogAdcUncal_h2:2;
+ unsigned reserved4:6;
+ unsigned analogAdcUncal_l8:8;
+} TALON_Status_6_Eol_t ;
+typedef struct _TALON_Status_7_Debug_200ms_t {
+ unsigned TokenizationFails_h8:8;
+ unsigned TokenizationFails_l8:8;
+ unsigned LastFailedToken_h8:8;
+ unsigned LastFailedToken_l8:8;
+ unsigned TokenizationSucceses_h8:8;
+ unsigned TokenizationSucceses_l8:8;
+} TALON_Status_7_Debug_200ms_t ;
+typedef struct _TALON_Status_8_PulseWid_100ms_t {
+ unsigned PulseWidPositionH:8;
+ unsigned PulseWidPositionM:8;
+ unsigned PulseWidPositionL:8;
+ unsigned reserved:6;
+ unsigned VelDiv4:1;
+ unsigned PosDiv8:1;
+ unsigned PeriodUsM8:8;
+ unsigned PeriodUsL8:8;
+ unsigned PulseWidVelH:8;
+ unsigned PulseWidVelL:8;
+} TALON_Status_8_PulseWid_100ms_t ;
+typedef struct _TALON_Status_9_MotProfBuffer_100ms_t {
+ unsigned ActTraj_IsValid:1; //!< '1' if other ActTraj_* signals are valid. '0' if there is no active trajectory pt.
+ unsigned ActTraj_ProfileSlotSelect:1;
+ unsigned ActTraj_VelOnly:1;
+ unsigned ActTraj_IsLast:1;
+ unsigned OutputType:2;
+ unsigned HasUnderrun:1;
+ unsigned IsUnderrun:1;
+ unsigned NextID:4;
+ unsigned reserved1:3;
+ unsigned BufferIsFull:1;
+ unsigned Count:8;
+ unsigned ActTraj_VelocityH:8;
+ unsigned ActTraj_VelocityL:8;
+ unsigned ActTraj_PositionH:8;
+ unsigned ActTraj_PositionM:8;
+ unsigned ActTraj_PositionL:8;
+} TALON_Status_9_MotProfBuffer_100ms_t ;
+typedef struct _TALON_Param_Request_t {
+ unsigned ParamEnum:8;
+} TALON_Param_Request_t ;
+typedef struct _TALON_Param_Response_t {
+ unsigned ParamEnum:8;
+ unsigned ParamValueL:8;
+ unsigned ParamValueML:8;
+ unsigned ParamValueMH:8;
+ unsigned ParamValueH:8;
+} TALON_Param_Response_t ;
+
+#endif /* CTRE_FRAMES_H */